Rotating 2D LiDAR LDS02RR (Xiaomi), 360°, 0.15–6 m

Product detailed description

The LDS02RR 2D LiDAR module is a rotating laser rangefinder used in Xiaomi Mijia robotic vacuums (SDJQR01RR/02RR/03RR, Mijia 1S). It scans distances in a 360° range based on laser triangulation and, thanks to its low price, is a popular choice for hobby robotics – spatial mapping, SLAM, autonomous navigation (ROS/ROS2), or obstacle detection. The sensor measures distances from 0.15 to 6 metres, rotates at a speed of 5 revolutions per second, and sends data via a UART serial link (115200 baud, protocol based on Neato lidars). Community support is excellent – there are ready-made libraries for Arduino/ESP32, Raspberry Pi (Python), and ROS2.

Specifications:

• Type: 2D LiDAR, 360° scanning
• Measurement principle: laser triangulation
• Measuring range: 0.15 – 6 m
• Rotation frequency: 5 Hz (300 rpm)
• Sampling frequency: 1.8 kHz (approx. 360 samples per revolution, resolution ~1°)
• Communication: UART, 115200 baud (Neato-based protocol)
• Power supply: 5 V, motor without integrated driver (requires external excitation, e.g. PWM via transistor)
• Laser safety: IEC 60825-1:2014, Class 1 (no harmful radiation)
• Weight: approx. 206 g
• Compatibility: With Adapter: ESP32, Arduino, Raspberry Pi, Raspberry Pi Pico, ROS/ROS2

How to connect to ESP32:

The lidar communicates via UART, so you simply need to connect the lidar data output to the ESP32 RX pin. The lidar motor does not have its own driver – it is driven externally, most easily by a PWM signal via a transistor or a small motor driver (there is also an open-source adapter board specifically for the LDS02RR). For data reading, the Arduino library LDS by Kaia.ai can be used, which directly supports the LDS02RR and includes a sample sketch for ESP32. The measured data can then be sent to ROS2 for visualisation (RViz), SLAM, and navigation. A detailed guide including a wiring diagram can be found in the Maker's Pet tutorial.

Package contents:

• 1× 2D LiDAR module LDS02RR

Note:

• There is no official datasheet for the LDS02RR (it is a spare part); the stated parameters are based on community documentation.
• The product contains a laser – do not disassemble the module.
• This product is not a standalone functional unit and may require professional installation.
• Product images are for illustration purposes only and may sometimes differ from the actual appearance of the item. However, this does not change their basic properties.